Research paper

Collision models · Joint velocity changes and internal impulses

The paper relates collision severity to abrupt joint-velocity changes and internal impulsive forces and torques. A Stanford Arm pickup example illustrates the mechanical consequences of impact.

Reviewed 2026-11-05 · Source and bibliography checked

Bibliographic details and the editorial overview were checked against the original source. Access conditions and editions are identified with the source.

Original title: Mathematical modeling of a robot collision with its environment
Publisher: Wiley
Authors: Yuan‐Fang Zheng, Hooshang Hemami
DOI: 10.1002/rob.4620020307
Publication date: 1985-09
Source language: en
Edition: Journal of Robotic Systems; 2007-03-21; DOI 10.1002/rob.4620020307
Access: Publisher abstract · restricted full text
Publication status: Published

Related resources and engineering notes

Turn each safety function into evidence

Source overview

The paper relates collision severity to abrupt joint-velocity changes and internal impulsive forces and torques. A Stanford Arm pickup example illustrates the mechanical consequences of impact.

Use and review

Publisher-deposited abstract only. Original publication is 1985, distinct from 2007 digitization; the model does not directly define human injury limits.

Sources & editions

Mathematical modeling of a robot collision with its environment ↗

Wiley · Journal of Robotic Systems; 2007-03-21; DOI 10.1002/rob.4620020307

Journal of Robotic Systems original1985-09 issue; Crossref abstract DOI10.1002/rob.4620020307. Online availability2007-03-21 is separate.